CN103969264B - The multiaxis tool that tracking for limited accass detection enables - Google Patents
The multiaxis tool that tracking for limited accass detection enables Download PDFInfo
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- CN103969264B CN103969264B CN201310629819.XA CN201310629819A CN103969264B CN 103969264 B CN103969264 B CN 103969264B CN 201310629819 A CN201310629819 A CN 201310629819A CN 103969264 B CN103969264 B CN 103969264B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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Abstract
A kind of enabled multiaxis tool of tracking for limited accass detection.In some embodiments, a kind of multiaxis tool may include being adapted to be placed with the universal joint adjacent with the opening in wall；It has a first end and a second end and the big displacement device of the end effector adjacent with first end, the big displacement means for engaging universal joint is used for relative rotary motion and the Relative sliding movement across opening so that end effector is placed on the wall side opposite with second end；Measurement big displacement device is configured to relative to the linear position and end effector of universal joint relative to the position of opening and the sensing system of spatial orientation；And computer control, it connects into and receives signal from sensing system to determine end effector relative at least one of the position of opening and orientation.
Description
Technical field
The present invention relates to the nondestructive detection systems and method for beyond the invisible and in Limited access area running, more
Body it is related to the nondestructive detection system and method using the instrument arm equipped with end effector.
Background technique
The detection of the Limited access area of (such as Flight Vehicle Structure) may require that disassembly and refitting structure inside the shell, this is
Costly and time-consuming.As alternative, such enclosure space may include manhole, size receiving sensor or its
The instrument of his enabled vision-based detection.The use of such sensor can have if the inside to be detected is opposing open
Effect.It may include hardware or other make however, in numerous applications, such shell will include obstructive inside
Sensible and detection difficult structure.
For example, certain internal aircraft structures may require that detection in use but such structure can be by pipe, bracket and cause
Dynamic device hinders, and must be removed first.In some instances, initial detecting can occupy 1000 hours or more, and subsequent
Detection can occupy 500 hours or more.Other internal aircraft components can be hindered by other structures element.Since structure removal is asked
Topic, the detection of initial flight device can occupy 2000 hours or more, and repeatability detection then up to 1100 hours.
It is currently possible to realize such detection by using borescope and remote camera, the borescope and long-range
The shape of video camera, which is made into, is inserted into limited accass area.Such device is not it can be seen that surface defect or damage, but not
It can see the damage under surface.In many examples, the feature found using these device and method can be misdiagnosed as damaging, and
And it is only capable of determining beginning label after expensive disassembly.The fatigue detecting that carry-on titanium attaches accessory can be programmed to regard
Feel borescope detection, but if the instruction of similar crackle is found, currently without method other than simply dismantling empennage
To confirm them.
Moreover, leading to inside as aircraft uses bonding more and more and co-curing composite structure
To produce and detection in can be very difficult, expensive and time-consuming.Such detection can be very expensive
So that due to execute use in the high cost that detects and certain low cost structures designs cannot be used.
Accordingly, it is desirable to the system and method for the non-destructive testing in limited closed area.It also needs for close
Close the non-destructive testing of the position of trace detection device and orientation in space.
Summary of the invention
In one embodiment, a kind of multiaxis tool, may include be adapted to be placed on it is adjacent with the opening in wall
Universal joint；Big displacement device (extended-reach device), the big displacement device have the first and second ends and
The end effector adjacent with first end, the big displacement means for engaging universal joint is with the relative rotary motion for passing through opening
It is moved with opposite slip, so that end effector is placed on the side opposite with second end of wall；Sensing system, institute
State sensing system be configured as measurement big displacement device relative to universal joint linear position and end effector relative to
The position of opening and spatial orientation；And computer control, the computer control are connected to receive from sensing system
Signal is to determine end effector relative at least one of the position of opening and orientation.
In another embodiment, a method of for detecting the inside of shell, the shell has to be opened with sensible
Mouthful wall there are the first and second ends and adjacent with first end the method may include providing a kind of big displacement device
End effector；Insertion big displacement device passes through opening so that end effector is placed on the side opposite with second end of wall
On face；Position and spatial orientation with sensor system senses end effector relative to opening；With determining end effector phase
Position and orientation for opening.
According to one aspect of the disclosure, a kind of multiaxis tool is provided comprising: it is adapted to be placed on and be opened with wall
The adjacent universal joint of mouth；Big displacement device with the first and second ends and the end effector adjacent with first end, big position
Moving device engages universal joint with the relative rotary motion for passing through opening and slip movement relatively so as to end effector quilt
It is placed on the side opposite with second end of wall；Sensing system, the sensing system are configured as measurement big displacement dress
Set position and spatial orientation of the linear position and end effector relative to universal joint relative to opening；It is controlled with computer
Device, the computer control are connected to receive position of the signal to determine end effector relative to opening from sensing system
At least one of set and be orientated.
Advantageously, sensing system includes the Inertial Measurement Unit being mounted on big displacement device；With laser measuring device for measuring,
One in string encoding device and wheel type encoder is to track the insertion of big displacement device in the opening.
Advantageously, multiaxis tool further include: be adapted to be placed on the sliding block adjacent with the opening of wall；The universal joint packet
It includes and is attached to sliding block and can be relative to the guide rail of the sliding block slip and rotatable movement, and be attached to being used for for guide rail
Its opposite sliding attachment ring for doing pivot and translational motion；And sensing system, the sensing system are configured as detection and lead
Rotation position, sliding attachment ring pivot position relative to guide rail of the rail along the lengthwise position of sliding block, guide rail relative to sliding block
Rotation position with big displacement device relative to universal joint.Preferably, sensing system includes the first encoder, the second coding
It is one or more in device, third encoder, the 4th encoder, the 5th encoder and the 6th encoder, wherein first compiles
Code device is configured as measurement guide rail along the lengthwise position of sliding block, and second encoder is configured as measurement guide rail relative to sliding block
Rotation position, third encoder are configured as measurement sliding attachment ring along the position of guide rail, and the first encoder is configured as measuring
Pivot position of the attachment ring relative to guide rail is slid, the 5th encoder is configured as measurement big displacement device relative to sliding attachment
The linear position of ring, and the 6th encoder is configured as rotation position of the measurement big displacement device relative to sliding attachment ring.
Advantageously, end effector is communicated with computer control and is controlled by computer control.
Advantageously, end effector includes video camera and is computer controlled device by computer control received signal
Use position and the orientation to determine video camera.Preferably, computer control includes being connected to video camera to show by imaging
The display for the image that machine is sent.Preferably, computer control includes database, and it includes the objects observed by video camera
It is stored image, and display is configured as one adjacent with the real image of an object observed by video camera of display
Object by storage image.Preferably, computer control includes the hand-held display with Inertial Measurement Unit；With include quilt
Stored database is stored up, inside of the information about the shell to be observed by video camera；Computer control is configured as
It shows in the hand-held display of the inside and is oriented and mobile virtual image with hand-held display by user.
Advantageously, big displacement device is pipe.Preferably, one in end includes the handle for being adapted to be held by user.
Advantageously, sensing system includes string encoding device, is attached to big displacement device to send big displacement dress
Set the linear position relative to sliding attachment ring.Preferably, string encoding device is included in sliding attachment ring and big displacement device
At least one of in the first magnet；With sliding attachment ring and big displacement device in another in the second magnet and iron
One in magnetic element；First encoder includes one cable being attached in the second magnet and ferromagnetic element
(cable).Preferably, the cable extends through one in the inside and hollow pipe of big displacement device, the hollow pipe
Road extends longitudinally through the inside of big displacement device, and the hollow pipe is formed enough fair in big displacement device to provide
Perhaps electric wire extends through gap therein；And one in the second magnet and ferromagnetic element is positioned at big displacement device
In one in internal and hollow pipe.
According to the further aspect of the disclosure, a kind of method for detecting the inside of shell is provided, shell has band
There is the wall of sensible opening, which comprises providing has the first and second ends and the end effector adjacent with first end
Big displacement device；Insertion big displacement device passes through opening so that end effector is placed on the side opposite with second end of wall
On face；Position and spatial orientation with sensing system probe tip actuator relative to opening；With determining end effector phase
For the position of opening.
Advantageously, being detected with sensing system includes providing the universal joint for being adapted to be placed adjacent with the opening of wall；Big position
Moving device is engaged universal joint and is moved with relative rotary motion, relative pivoting action and the opposite slip for passing through opening.It is excellent
Selection of land, being detected with sensing system includes providing to be adapted to be placed with the sliding block adjacent with the opening of wall；Be attached to sliding block
Universal joint for its opposite linear movement.Preferably, universal joint includes the sliding attachment ring for receiving big displacement device；With
The linear position for including detection big displacement device relative to sliding attachment ring is detected with sensing system.Preferably, universal joint packet
Guide rail is included, sliding block pivotably and is slippingly attached to and pivotably and is slippingly attached to sliding attachment ring；With
Detected with sensing system includes the rotation position detected guide rail along the position, guide rail of sliding block relative to sliding block, sliding attachment
Ring is relative to the position of guide rail, sliding attachment ring relative to the pivot position of guide rail, big displacement device relative to sliding attachment ring
Linear position and big displacement device relative to sliding attachment ring rotation position in it is one or more.Preferably, institute
The method of stating further includes the data of data of the access comprising the object about the video camera observation by being included in end effector
Library；With show an object adjacent with the real image of an object observed by video camera by storage figure.
Other targets and advantage of the disclosure will become obvious from following specification referring to drawings and claims.
Detailed description of the invention
Fig. 1 is that the schematic diagram of the embodiment of the enabled multiaxis tool of disclosed tracking indicates；
Fig. 2 is the position vector figure for showing the video camera and Inertial Measurement Unit of the multiaxis tool of Fig. 1；
Fig. 3 is another embodiment of the enabled multiaxis tool of disclosed tracking；
Fig. 4 A and Fig. 4 B are the details of the disclosed third embodiment for tracking enabled multiaxis tool；
Fig. 5 A, Fig. 5 B and Fig. 5 C are the signals of the different embodiments of the disclosed big displacement device for tracking enabled multiaxis tool
Figure indicates；With
Fig. 6 is the disclosed another embodiment for tracking enabled multiaxis tool.
Specific embodiment
As shown in Figure 1, the multiaxis tool that disclosed tracking is enabled, is generally designated as 10, may include with first end 14
With the big displacement device 12 of second end 16.First end 14 may include end effector, generally be designated as 18.Second end 16 can be with
Including the handle 20 for being formed to be held and manipulated by user's (not shown).Big displacement device 12 may include sensor system
System, in the embodiment in figure 1 may include Inertial Measurement Unit (IMU) 22, may be connected to generally be designated as 24 can
To include the computer control of encoder reading device 25.
Sensing system can also include string encoding device 26.String encoding device 26 can be with encoder reading device
25 communicate and have the cable 28 for being attached to universal joint, and universal joint can be installed in big displacement in the embodiment in figure 1
Advance ball 30 on device 12.Therefore, string encoding device 26 can measure big displacement device 26 relative to advance ball 30
Linear position.Optionally or other than string encoding device 26, laser measuring device for measuring (LMD) 27 be can be mounted to greatly
On the handle 20 of gearshift 12.As will be described in detail, both string encoding device 26 and LMD 27 can be by computers
Controller 24 using with determine big displacement device 12 exceed advance ball 30 length, to position the end of big displacement device.
Big displacement device 12 can also include the video camera 32 and second laser measurement dress of installation adjacent with first end 14
Set (LMD) 34.Video camera 32 by electric wire or can be connected wirelessly to computer control 24 to be observed by video camera
Object 36 can occur on display 38.
Big displacement device 12 usually can be elongated so that first end 14 is inserted through wall in shape and size
Detection opening 40 in 42, so that first end 14 can be placed in closed detection space 44 (also seeing Fig. 3) in wall 42 and the
Two ends 16 and the opposite side of handle 20.
Advance ball 30 can be placed with adjacent with detection opening 40, and be attached to wall 42 or other modes are opposite
It is fixed in wall 42.Since IMU 22 is installed on big displacement device 12, so the big displacement device of its tracer tools 10 takes
To this can be equivalent to any portion of orientation for the tool that tracking can be rigidly attached on the axis 46 of big displacement device.
The signal of the orientation of the instruction axis 46 generated by IMU 22 can be received by computer control 24.
For the embodiment of Fig. 1, the data from IMU 22 can be used for measuring the orientation of axis 46.Axis is opened relative to detection
The distance measure of mouth 40 can be obtained from many sources of such as string encoding device 26.Alternatively or additionally, last
LMD 34 can be used to track insertion of the end effector 18 relative to known detection position 48 in end actuator 18.
As depicted in figs. 1 and 2, for this multiaxis tool 10, the result and character string of the data input from IMU 22
Encoder and/or LMD can be 4 × 4 homogeneous transform matrix, the first end 14 of the axis 46 of coding end actuator 12 relative to
The position of reference frame and orientation, the reference frame are shown in FIG. 2 labeled as RIMU.The coordinate system of video camera 32 is in Fig. 2
Middle flag activation is RCAMERA.Since both IMU and video camera are mounted on axis 46, so the referential R of video camera 32CAMERA
Referential R relative to IMU 22IMUIt will be kept fixed.It is thus possible to the orientation of the IMU 22 communicated with computer control 24
It will indicate the orientation of video camera 32.
32 distance L (being known distance) is represented as from IMU to advance ball 30 distance L from IMU22 to video camera1
(distance for indicating from IMU to wall 42) and from advance ball 30 to the distance L of video camera 322Sum.Correspondingly, from detection opening
The distance of 40 to the object 36 observed by video camera 32 can be expressed as total length L and from IMU 22 to the length of detection opening 40
L1Difference.This distance can also by measure from LMD 34 to inside 44 in known reference object 48 distance be calculated or
Person determines.These measured values can be manipulated and by constantly real-time update with big displacement device 12 by operator's (not shown).
In one embodiment, three-dimensional visualization application can be used to show the visual field of video camera 32 on display 38
The display based on CAD of interior environment.Three-dimensional environment can be used to aid in guidance user and keep the tracking of detection sequence.
For example, specific area-of-interest can be emphasised with a kind of color, and detected region or there is still a need for tested
The region of survey can be shown with other colors.Further, since the position of tool and orientation are from tracking instrument (IMU 22, character
String encoding device 26 and LMD 34) learn, so the presentation of tool 10 can also be shown as also in virtual environment operation (see
Such as Fig. 3).Correspondingly, as shown in Figure 1, display 38 can show the void of object 36 ' as video camera 32 observes object 36
It is quasi- to present, it can be generated by three-dimensional visualization application.If LMD 34 is used, the range data provided can be with end
The relative orientation of end actuator 18 is used to produce transformation matrix together to multiply/post-multiplication (post-multiply) axis after an action of the bowels
46 transformation.This provides target object 48 to the position in laser crosspoint, and to regard with relative camera described above
Figure converts identical mode and is calculated.
Three-dimensional visualization apply with allow applications come modify in three-dimensional visualization virtual camera or
The position of other objects and the framework of orientation information.In some applications, this can be used with application programming interfaces (API)
Card cage is realized to allow to control visible environment from individual application.
In one embodiment, tool 10 may include display 50, other than display 38 or can replace
Display 38 is used.This display 50 can show the virtual image 52 of object 36 ', make its practical camera shooting with object 36
Machine image 54 is side by side.Escope can enable a user to compare actual object 36 and dummy object 36 ' side by side for this, can be with
Enable the operator to detection observation object defect 56 or other the problem of.Object 36,48 in detection space 44
And the data and image of profile and other objects, three-dimensional visualization application can be enabled to be shown in video camera 32 with big position
Mobile virtual image 36 ' when moving device 12 is moved and moved, the data and figure can be stored in and can be computer control
In the database of a part of device 24, or it can be accessed from remote location (position) by computer control.
As shown in figure 3, in another embodiment, can or can not combine with embodiment shown in fig. 1 makes
With, a kind of portable display apparatus 24A, such as tablet computer (not shown), smart phone, display connector monitor, wearing
Formula, handheld apparatus or head-up display, can be equipped with individual IMU 53 and for providing virtual view orientation control
System.It virtual view position can be with the fixation position of access port 40 or any with the associated any position (example of tool 10A
Such as, the first end 14 of tool) link.Therefore, any rotation, pivot or the corner of display device 24A and IMU 53 will lead to
Corresponding rotation, pivot or the corner of virtual image 38A.This ability can permit more intuitive interface and provide for user
Improved environment sensing.If display device 24A is equipped with touch screen displays 38A, object can be selected simultaneously on the screen
And the position of record is for further analyzing.
Another embodiment of multiaxis tool 10B is shown in Fig. 4 A and Fig. 4 B.For this embodiment, in the reality of Fig. 1
The sensing system including IMU 22 and advance ball 30 applied in example can be by the movement for tracking big displacement device 12
The system that linear and rotary encoder is constituted replaces or supplement.Multiaxis tool 10B may include universal joint comprising parallel sliding
Block 57,58, block 64,66, guide rail 68 and be placed on the sliding attachment ring 70 adjacent with the opening 40 in wall 42.
Parallel sliding block 57,58 can extend in length and (can not shown by means of such as clamp, sucker, screw etc.
Device out) is attached to wall 42 on any side of detection opening 40.Sliding block 57,58 can respectively include longitudinal slot 60,
62, block 64,66 is received to move for carrying out opposite slip in the direction of arrow A.Guide rail 68 can be attached to block 64,66
For carrying out relative rotary motion in the direction of arrow B.Guide rail 68 can extend detection opening between sliding block 57,58
40.Sliding attachment ring 70 can be mounted on guide rail 68 for carrying out opposite slip or translation fortune in the direction of arrow C
It is dynamic, and can be installed to serve on guide rail and carry out in the direction of arrow D (it is, around the axis orthogonal with guide rail 68)
It moves pivotally.Further, the axis 46 of big displacement device 12 can engage sliding attachment ring 70 for carrying out in the direction of arrow E
Relative sliding movement, and relative rotary motion is carried out in the direction of arrow F.
As shown in Figure 4 B, sliding block 57 may include the linear encoder positioned at 72 to send instruction block 64 relative to sliding block 57
The signal of position on the direction arrow A (Fig. 4 A), and block 64 may include the rotary encoder positioned at 74, can send
Indicate signal of the sliding block 68 with respect to relative rotation angle of the block 64 on the direction arrow B (Fig. 4 A).Sliding block 68 may include being located at
76 linear encoder can send and indicate sliding attachment ring 70 relative to guide rail 68 on the direction of arrow C (Fig. 4 A)
The signal of position, and sliding attachment ring 70 may include the rotary encoder positioned at 78,80 to slide for sending instruction respectively
Attachment ring 70 is moved to be orientated and rotation position of the axis 46 on the direction arrow F (Fig. 4 A) in the pivot on the direction arrow D (Fig. 4 A)
Signal.The signal for carrying out self-encoding encoder 72,74,76,78,80 may be sent to computer control 24 (Fig. 1) to provide end
Hold execution tool 18 relative to the instruction of the orientation of opening 40.These signals can be handled by computer control 24 to produce respectively
The virtual and/or actual image 52,54 of raw just observed object 36.The embodiment of Fig. 4 A and Fig. 4 B can be omitted for
The needs of IMU 22.However, string encoding device 26 or LDM 34 still can be necessary to detect big displacement device 12
Axis 46 relative to detection opening 40 on the direction arrow E (see Fig. 4 A) " into-go out " movement.
Fig. 5 A, Fig. 5 B and Fig. 5 C show string encoding device 26A, 26B, 26C, and can be used in such as Fig. 4 A and Fig. 4 B
Embodiment in detect sliding attachment the ring 70A and 70C of movement of the axis of big displacement device 12 on the direction arrow E (Fig. 4 A)
Different embodiments.As shown in Figure 5A, string encoding device 26A may include cable 28, be attached to disk 84, and disk 84 can be with
It is made of ferromagnetic material such as steel.Disk 84 can be formed in the hollow interior for being placed on axis 46A can slide for opposite
Shifting movement.Sliding attachment ring 78 may include annular magnet 86.Annular magnet can be used for keeping metal dish 84 shown in Fig. 5 A
Position, i.e., or close to sliding attachment ring 70A center.Since the axis 46A of big displacement device 12A is relative to sliding attachment
Ring 70A vertically moves (it is, along direction of the arrow E of Fig. 5 A), so metal dish 84 will be kept fixed and sliding attachment ring
Interior magnet 86 is aligned, and is drawn into string encoding device 26A so as to cause cable 28 or is extended outwardly from string encoding device,
So that string encoding device 26A can generate letter of the instruction axis 46A relative to the relative longitudinal position of sliding attachment ring 70A
Number.In the alternate embodiment of Fig. 5 A, sliding attachment ring 70A may include becket 86, and disk 84 can be by ferromagnetic material
Material composition.For any embodiment in the two, the magnetic attraction between disk 84 and ring 86 can keep disk position shown in Fig. 5 A
It sets.
As shown in Figure 5 B, the axis 46B of big displacement device 12A may include hollow interior, and receiving is also hollow pipe 88
And receive annular magnet or ferromagnetic disk 84A in it.Pipe 88 can be attached by adhesive, gluing or other modes
To the inner wall 87 of axis 46B.Sliding attachment ring 70A may include magnet or metal dish (such as fruit tray 84A is made of ferromagnetic material)
86.As axis 46B is vertically moved relative to sliding attachment ring 70A along the direction of arrow E shown in Fig. 5 B, annular magnet or disk
Magnetic attraction between 84A and ring 86 can keep magnet or disk the 84A position shown in Fig. 5 B.Equally, this opposite fortune
It is dynamic that cable 28 can be caused to be drawn into string encoding device 26B or extend from string encoding device, therefore generate instruction
Signal of the axis 46B relative to the relative longitudinal position of sliding attachment ring 70A.The advantages of the inside of axis 46B includes hollow pipe 88
It is that gap can be provided for other electric wire and cables 90 along internal stretch.Such electric wire and cable 90 can
To include the connection to LMD 34 and/or video camera 22 (see Fig. 1).
As shown in Figure 5 C, axis 46C has hollow interior, provides and extends for other electric wire and cables (being generally designated as 90)
The pipeline passed through.Sliding attachment ring 70C itself can be connected to string encoding device 26C by cable 28.Big displacement device
The relative longitudinal motion of the axis 46C of 12C in the direction of arrowe can cause cable 28 be drawn into string encoding device 26C or
Extend outwardly from string encoding device 26C, to indicate relative position of the axis 46C relative to sliding attachment ring 70C.
It still in another embodiment, can be with as shown in fig. 6, the enabled multiaxis tool of tracking, is generally referenced as 10 '
Component IMU 22, the coding of the embodiment of such as Fig. 1 are replaced including the universal joint in the form of tilt rotation connector supporting system 92
Device 26 and advance ball 90.Tilt rotation connector 92 may include bearing 94, bearing 94 may include bracket (not shown) or
The attachment (not shown) of wall 42 (Fig. 1).Axis 96 is pivotally mounted in bearing 94 and including U-shaped bracket 98 so as to axis and U-shaped
Bracket rotates (swivel) around vertical axis as shown in FIG. 6 relative to bearing 94.Block 100 is formed to be assemblied in U-shaped bracket
Between 98 arm 102,104 and the arm 102,104 of U-shaped bracket 98 can be pivotally affixed to.Arm 102 may include arc groove
106, screw bolt 108 is received, stop knob 110 is installed on the screw bolt 108 to be block 100 relative to bracket
98 pivoting action provides adjustable frictional resistance.
Block 100 may include hole 112, be formed the axis 46 for slip and rotatably receiving big displacement device 12 '.
Wheel type encoder 114 can be installed in bearing 94 and the wheel 116 including engaging axis 96.Wheel 116 can be directed with sound
It answers the rotation of axis 96 and rotates, and therefore encoder 114 can detect the rotational motion of U-shaped bracket 98, and therefore detect
The rotational motion of axis 46.Wheel type encoder 118 can be mounted on arm 112 and the wheel including being placed with junction piece 100
120.Wheel 120 is oriented to, the ascending motion (when being pivoted relative to bracket 98) of the pivot of response block 100 and therefore axis 46 and
Rotation.
Wheel type encoder 122 can be mounted on block 100 and including extending through the slot 126 in block with engagement shaft 46
Wheel 124.Wheel 124 is oriented to, and is revolved in response to axis 46 relative to block 100 and therefore relative to the longitudinal movement of system 92
Turn.Wheel type encoder 128 can be mounted on block 100 and including extending through the slot 132 in block 100 to engage axis 46
Wheel 130.Wheel 130 is oriented to, and is rotated in response to axis 46 relative to the rotary motion of block 100, so that encoder 128 can be with
Rotary motion of the detection axis relative to system 92.
Since wheel 124 and 130 is installed into so that it measures the different motion (respectively translate and rotate) of axis 46, so
Wheel 124 and 130 can be omni-directional wheel, it is allowed to roll locating surface on the direction perpendicular to its respective direction of rotation
Freely slide.
Each encoder 114,118,122 and 128 can be connected to send a signal to computer control 24 (Fig. 1).
To which the longitudinal direction for the axis that computer control 24 can be measured by calculating by encoder 114,118,122 and 128 rotates, inclines
Tiltedly and rotational motion receives the signal for indicating the position of distal end 14 of axis 46.
In operation, user can input to computer control 24 about aircraft or other shells to be detected
Identification information, and can input detection opening 40 identification label.This information can enable computer control
Access is used for the suitable database for the shell to be detected.For the embodiment of Fig. 1, user can add advance ball and examine
It surveys at the position of opening 40 or in place nearby.For the embodiment of Fig. 4 A and Fig. 4 B, user can be adjacent with detection opening 40
Ground adds sliding block 57,58.In this regard, user can be located at the outside in wall 42 and cannot understand thoroughly detection opening 40.
User (or assistant) then can be by catching handle 20 to manipulate big displacement device 12, so as to the fractionation end of axis 46
14 pass through detection opening 40 and enter detection space 44.User can observe on the display 38 or 50 in detection space 44
Actual or virtual image.User can manipulate big displacement device 12 so that video camera 32 is oriented to observe required object
36.For the embodiment of Fig. 1, the signal of one in IMU 22 and string encoding device 26 and LMD 34 or the two
Device 24 can be computer controlled to use to determine position and orientation of the end effector 18 relative to detection opening 40.For figure
The embodiment of 4A and Fig. 4 B, computer control, which can receive, comes self-encoding encoder 72,74,76,78,80 and string encoding device 26
Signal to determine position and orientation of the end effector 18 relative to detection opening 40.Therefore computer control 24 can be
The place of being suitably oriented relative to big displacement device 12 shows virtual image 36 ' appropriate.
If object 36 includes defect 56, defect can be appeared on image 54.User can activate computer control
Device 24 (it can be by touching touch-screen display) can activate computer control to make the label to 56 position of defect
Device processed shows the image 54 of object 36 and defect 56 to record.Once detection is completed, then computer control can produce image
And/or the report of the position of object 36 and defect 56.It can assist detecting by using mancarried device 24A.Portable dress
It sets and can receive information related to the position of relevant aircraft and detection opening 40, and access (local in device 24A
Or at a distance) by storage information, and show the image 38A of detected object (Fig. 3).This image can pass through behaviour
The spatial orientation of vertical device 24A is manipulated so that user is capable of the big displacement device 12 of Visual retrieval space 44 and Qi Nei
Position.
The embodiment of front respectively provides the position on the adjutage run in restricted clearance with tracking end effector
The multiaxis tool for the ability set and be orientated.Further, the embodiment allows users to visual from the visual angle of end effector
Change the virtual presentation of detected environment.This operator that can permit the tool has the better environment sense to detection volume
Know.Under that environment, in certain embodiments, user can observe in detection zone all aircraft components (or
Person other detected components) threedimensional model, and Visual retrieval tool and even visualize on end effector
The presentation of the viewing area (what comes into a driver's frustum) of video camera.
It, can be by tracking the position of end effector and the energy of orientation when the coordinate system using target object is to indicate
Power assists the physical environment for the object being just observed and the such interaction of same physical objects virtually presented.One
In a little embodiments, object can be emphasised to show which project needs to be scanned to user with a kind of color, and with another
Kind color shows those scanned projects.It in other examples, can be with about the additional information of object and environment
It is shown in the three-dimensional background suitably registered.Still in other examples, computer control 24 can produce scanning
The report of section, wherein three-dimensional data points are by controller to confirm that desired zone is recorded in a manner of scanned.
The form of device and method described herein be not by this disclosure relates to invention it is exclusive, and variant can
To be formed there without departing from the scope of the present invention.
Claims (13)
1. a kind of multiaxis tool comprising:
It is adapted to be placed with the sliding block adjacent with the opening in wall；
Suitable for being placed with the universal joint adjacent with the opening in the wall, wherein the universal joint includes:
It is attached to the sliding block and the guide rail with rotary motion can be slid relative to the sliding block, and
Attachment ring is slid, the sliding attachment ring is attached to the guide rail so that opposite its pivots and translational motion；
Big displacement device, the big displacement device has a first end and a second end and the end adjacent with the first end executes
Device, universal joint described in the big displacement means for engaging are transported with the relative rotary motion for being passed through the opening and opposite slip
It is dynamic, so that the end effector is placed on the side opposite with the second end of the wall, wherein the end executes
Device includes video camera；
Sensing system, the sensing system are configured as measuring the big displacement device relative to the linear of the universal joint
The position and spatial orientation of position and the end effector relative to the opening；With
Computer control, the computer control are connected to receive signal from the sensing system with the determination end
Hold actuator relative at least one of the position of the opening and orientation.
2. multiaxis tool according to claim 1, wherein the sensing system includes being mounted on the big displacement device
On Inertial Measurement Unit；With at least one of laser measuring device for measuring, string encoding device and wheel type encoder to track
State the insertion of big displacement device in the opening.
3. multiaxis tool according to claim 1, further includes:
The sensing system is configured as detecting the guide rail along the lengthwise position of the sliding block, the guide rail relative to institute
State the rotation position of sliding block, the sliding attachment ring is led along the position of the guide rail, the sliding attachment ring relative to described
The rotation position of the pivot position of rail and the big displacement device relative to the universal joint.
4. multiaxis tool according to claim 3, wherein the sensing system includes being configured as measuring the guide rail
Along the first encoder of the lengthwise position of the sliding block, it is configured as the rotation position for measuring the guide rail relative to the sliding block
The second encoder set, be configured as measuring the sliding attachment ring along the position of the guide rail third encoder, matched
It is set to and measures the 4th encoder of the position of pivot position of the sliding attachment ring relative to the guide rail, is configured as measuring
The big displacement device measures described big relative to the 5th encoder and being configured as of the linear position of the sliding attachment ring
Gearshift relative to it is described sliding attachment ring rotation position the 6th encoder in one or more.
5. multiaxis tool according to claim 1, wherein the end effector communicates simultaneously with the computer control
And it is controlled by the computer control.
6. multiaxis tool according to claim 1, wherein by the computer control received signal by the calculating
Machine controller is used with the position of the determination video camera and orientation.
7. multiaxis tool according to claim 1, wherein the computer control includes being connected to the video camera
To show the display of the image sent by the video camera.
8. multiaxis tool according to claim 1, wherein the computer control includes having Inertial Measurement Unit
Hand-held display；With including storing up stored database, the storage information is about the shell to be observed by the video camera
It is internal；The computer control, which is configured as showing in the hand-held display, to be determined with the hand-held display by user
To and the virtual image of the mobile inside.
9. multiaxis tool according to claim 1, wherein the big displacement device is pipe.
10. multiaxis tool according to claim 9, wherein the second end includes the handle for being adapted to be caught by user.
11. multiaxis tool according to claim 1, wherein the sensing system includes being attached to the big displacement dress
It sets to send string encoding device of the big displacement device relative to the linear position of the sliding attachment ring.
12. multiaxis tool according to claim 11, wherein the string encoding device is included in the sliding attachment ring
With the first magnet at least one of the big displacement device；With in the sliding attachment ring and the big displacement device
Another in the second magnet and ferromagnetic element in one；The string encoding device includes being attached to described the
One cable in two magnets and the ferromagnetic element.
13. a kind of method for detecting the inside of shell, the shell has the wall with detection opening, which comprises
Offer has a first end and a second end and the big displacement device of the end effector adjacent with the first end, wherein institute
Stating end effector includes video camera；
The big displacement device is inserted through that the opening is placed to the wall so as to the end effector with it is described
The opposite side of second end；
Position and spatial orientation of the end effector relative to the opening are detected with sensing system, wherein using sensor
System detection includes providing to be adapted to be placed with the sliding block adjacent with the opening in the wall and provide universal joint, institute
It states universal joint and is attached to the sliding block so as to its opposite linear movement, wherein the big displacement device is configured to described in engagement
Universal joint is moved with the relative rotary motion, relative pivoting action and the opposite slip that are passed through the opening；With
Determine position of the end effector relative to the opening.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/750,565 US9513231B2 (en) | 2013-01-25 | 2013-01-25 | Tracking enabled multi-axis tool for limited access inspection |
| US13/750,565 | 2013-01-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103969264A CN103969264A (en) | 2014-08-06 |
| CN103969264B true CN103969264B (en) | 2019-01-22 |
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| CN201310629819.XA Active CN103969264B (en) | 2013-01-25 | 2013-11-29 | The multiaxis tool that tracking for limited accass detection enables |
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| US (1) | US9513231B2 (en) |
| EP (1) | EP2759830B1 (en) |
| JP (1) | JP5739028B2 (en) |
| CN (1) | CN103969264B (en) |
| BR (1) | BR102014000712B1 (en) |
| CA (1) | CA2829439C (en) |
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|---|---|---|---|---|
| US10105837B2 (en) * | 2013-01-25 | 2018-10-23 | The Boeing Company | Tracking enabled extended reach tool system and method |
| KR20140121581A (en) * | 2013-04-08 | 2014-10-16 | 삼성전자주식회사 | Surgical robot system |
| CN104316012A (en) * | 2014-11-25 | 2015-01-28 | 宁夏共享模具有限公司 | Industrial robot for measuring size of large part |
| CN106949855B (en) * | 2017-03-03 | 2023-08-15 | 四川大学 | Rotating shaft angular displacement measuring device |
| CN110901947B (en) * | 2019-11-22 | 2022-04-22 | 成都凯天电子股份有限公司 | Multi-dimensional attitude adjusting platform for loading and maintaining airplane ground |
| CN112894759A (en) * | 2021-01-13 | 2021-06-04 | 广东水利电力职业技术学院（广东省水利电力技工学校） | High-altitude operation robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CA2829439A1 (en) | 2014-07-25 |
| US20140210986A1 (en) | 2014-07-31 |
| CN103969264A (en) | 2014-08-06 |
| JP2014145764A (en) | 2014-08-14 |
| US9513231B2 (en) | 2016-12-06 |
| JP5739028B2 (en) | 2015-06-24 |
| EP2759830A1 (en) | 2014-07-30 |
| BR102014000712B1 (en) | 2020-09-24 |
| BR102014000712A2 (en) | 2015-07-28 |
| CA2829439C (en) | 2016-04-12 |
| EP2759830B1 (en) | 2019-03-20 |
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